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<div class="title">correspondence_estimation_organized_projection.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_estimation.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html">   61</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html">CorrespondenceEstimationOrganizedProjection</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase</a> &lt;PointSource, PointTarget, Scalar&gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::initCompute</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::input_transformed_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointSource&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointSource&gt;::input_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointSource&gt;::indices_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::getClassName</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::point_representation_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::target_cloud_updated_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::Ptr PointCloudTargetPtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::ConstPtr PointCloudTargetConstPtr;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; CorrespondenceEstimationOrganizedProjection&lt;PointSource, PointTarget, Scalar&gt; &gt; Ptr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt; const CorrespondenceEstimationOrganizedProjection&lt;PointSource, PointTarget, Scalar&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a8c70f6164145efe8144907a9007cd866">   87</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a8c70f6164145efe8144907a9007cd866">CorrespondenceEstimationOrganizedProjection</a> ()</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          : fx_ (525.f)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          , fy_ (525.f)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          , cx_ (319.5f)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          , cy_ (239.5f)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          , src_to_tgt_transformation_ (Eigen::Matrix4f::Identity ())</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          , depth_threshold_ (std::numeric_limits&lt;float&gt;::max ())</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          , projection_matrix_ (Eigen::Matrix3f::Identity ())</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        { }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a421b1761b5313c3519ade0f679e73686">  103</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a421b1761b5313c3519ade0f679e73686">setFocalLengths</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> fx, <span class="keyword">const</span> <span class="keywordtype">float</span> fy)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        { fx_ = fx; fy_ = fy; }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#ae46c546ae6d03fdf9dee335c01169c15">  111</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#ae46c546ae6d03fdf9dee335c01169c15">getFocalLengths</a> (<span class="keywordtype">float</span> &amp;fx, <span class="keywordtype">float</span> &amp;fy)<span class="keyword"> const</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="keyword">        </span>{ fx = fx_; fy = fy_; }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#ade074b488ff8ce1a85a7ef61869b5cfe">  120</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#ade074b488ff8ce1a85a7ef61869b5cfe">setCameraCenters</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> cx, <span class="keyword">const</span> <span class="keywordtype">float</span> cy)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        { cx_ = cx; cy_ = cy; }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a650cec6eaed2dd963361b8ffd0169118">  128</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a650cec6eaed2dd963361b8ffd0169118">getCameraCenters</a> (<span class="keywordtype">float</span> &amp;cx, <span class="keywordtype">float</span> &amp;cy)<span class="keyword"> const</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">        </span>{ cx = cx_; cy = cy_; }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a79d65095dad5703f49f1d37c98d76044">  137</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a79d65095dad5703f49f1d37c98d76044">setSourceTransformation</a> (<span class="keyword">const</span> Eigen::Matrix4f &amp;src_to_tgt_transformation)</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        { src_to_tgt_transformation_ = src_to_tgt_transformation; }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keyword">inline</span> Eigen::Matrix4f</div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a72c8043f8eab0b048bc3354c12d65f93">  146</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a72c8043f8eab0b048bc3354c12d65f93">getSourceTransformation</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="keyword">        </span>{ <span class="keywordflow">return</span> (src_to_tgt_transformation_); }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#ae87b82d5be3a3f12914f489ff45452eb">  155</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#ae87b82d5be3a3f12914f489ff45452eb">setDepthThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> depth_threshold)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        { depth_threshold_ = depth_threshold; }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#abfbd5e779a8b7a7a691aca652965cb44">  164</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#abfbd5e779a8b7a7a691aca652965cb44">getDepthThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="keyword">        </span>{ <span class="keywordflow">return</span> (depth_threshold_); }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a6145ed17b1dadd13c2008b409ad0ce26">determineCorrespondences</a> (Correspondences &amp;correspondences, <span class="keywordtype">double</span> max_distance);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#ac1efb1a06bd674fea9743d615e8a3419">determineReciprocalCorrespondences</a> (Correspondences &amp;correspondences, <span class="keywordtype">double</span> max_distance);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keyword">virtual</span> boost::shared_ptr&lt; CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt; &gt; </div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#aec1298aff4ecd654fad9838ed871f1b3">  183</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#aec1298aff4ecd654fad9838ed871f1b3">clone</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          Ptr copy (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html">CorrespondenceEstimationOrganizedProjection&lt;PointSource, PointTarget, Scalar&gt;</a> (*<span class="keyword">this</span>));</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          <span class="keywordflow">return</span> (copy);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        }</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;::target_</a>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a6a393ec18179a0ae23195a4ed71f702f">initCompute</a> ();</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="keywordtype">float</span> fx_, fy_;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordtype">float</span> cx_, cy_;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        Eigen::Matrix4f src_to_tgt_transformation_;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keywordtype">float</span> depth_threshold_;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        Eigen::Matrix3f projection_matrix_;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    };</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;}</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/correspondence_estimation_organized_projection.hpp&gt;</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_REGISTRATION_CORRESPONDENCE_ESTIMATION_ORGANIZED_PROJECTION_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a></div><div class="ttdoc">Abstract CorrespondenceEstimationBase class. All correspondence estimation methods should inherit fro...</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html">pcl::registration::CorrespondenceEstimationOrganizedProjection</a></div><div class="ttdoc">CorrespondenceEstimationOrganizedProjection computes correspondences by projecting the source point c...</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html_a421b1761b5313c3519ade0f679e73686"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a421b1761b5313c3519ade0f679e73686">pcl::registration::CorrespondenceEstimationOrganizedProjection::setFocalLengths</a></div><div class="ttdeci">void setFocalLengths(const float fx, const float fy)</div><div class="ttdoc">Sets the focal length parameters of the target camera.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html_a6145ed17b1dadd13c2008b409ad0ce26"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a6145ed17b1dadd13c2008b409ad0ce26">pcl::registration::CorrespondenceEstimationOrganizedProjection::determineCorrespondences</a></div><div class="ttdeci">void determineCorrespondences(Correspondences &amp;correspondences, double max_distance)</div><div class="ttdoc">Computes the correspondences, applying a maximum Euclidean distance threshold.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.hpp:71</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html_a650cec6eaed2dd963361b8ffd0169118"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a650cec6eaed2dd963361b8ffd0169118">pcl::registration::CorrespondenceEstimationOrganizedProjection::getCameraCenters</a></div><div class="ttdeci">void getCameraCenters(float &amp;cx, float &amp;cy) const</div><div class="ttdoc">Reads back the camera center parameters of the target camera.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.h:128</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html_a6a393ec18179a0ae23195a4ed71f702f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a6a393ec18179a0ae23195a4ed71f702f">pcl::registration::CorrespondenceEstimationOrganizedProjection::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html_a72c8043f8eab0b048bc3354c12d65f93"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a72c8043f8eab0b048bc3354c12d65f93">pcl::registration::CorrespondenceEstimationOrganizedProjection::getSourceTransformation</a></div><div class="ttdeci">Eigen::Matrix4f getSourceTransformation() const</div><div class="ttdoc">Reads back the transformation from the source point cloud to the target point cloud.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.h:146</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html_a79d65095dad5703f49f1d37c98d76044"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a79d65095dad5703f49f1d37c98d76044">pcl::registration::CorrespondenceEstimationOrganizedProjection::setSourceTransformation</a></div><div class="ttdeci">void setSourceTransformation(const Eigen::Matrix4f &amp;src_to_tgt_transformation)</div><div class="ttdoc">Sets the transformation from the source point cloud to the target point cloud.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.h:137</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html_a8c70f6164145efe8144907a9007cd866"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#a8c70f6164145efe8144907a9007cd866">pcl::registration::CorrespondenceEstimationOrganizedProjection::CorrespondenceEstimationOrganizedProjection</a></div><div class="ttdeci">CorrespondenceEstimationOrganizedProjection()</div><div class="ttdoc">Empty constructor that sets all the intrinsic calibration to the default Kinect values.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html_abfbd5e779a8b7a7a691aca652965cb44"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#abfbd5e779a8b7a7a691aca652965cb44">pcl::registration::CorrespondenceEstimationOrganizedProjection::getDepthThreshold</a></div><div class="ttdeci">float getDepthThreshold() const</div><div class="ttdoc">Reads back the depth threshold; after projecting the source points in the image space of the target c...</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html_ac1efb1a06bd674fea9743d615e8a3419"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#ac1efb1a06bd674fea9743d615e8a3419">pcl::registration::CorrespondenceEstimationOrganizedProjection::determineReciprocalCorrespondences</a></div><div class="ttdeci">void determineReciprocalCorrespondences(Correspondences &amp;correspondences, double max_distance)</div><div class="ttdoc">Computes the correspondences, applying a maximum Euclidean distance threshold.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.hpp:118</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html_ade074b488ff8ce1a85a7ef61869b5cfe"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#ade074b488ff8ce1a85a7ef61869b5cfe">pcl::registration::CorrespondenceEstimationOrganizedProjection::setCameraCenters</a></div><div class="ttdeci">void setCameraCenters(const float cx, const float cy)</div><div class="ttdoc">Sets the camera center parameters of the target camera.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html_ae46c546ae6d03fdf9dee335c01169c15"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#ae46c546ae6d03fdf9dee335c01169c15">pcl::registration::CorrespondenceEstimationOrganizedProjection::getFocalLengths</a></div><div class="ttdeci">void getFocalLengths(float &amp;fx, float &amp;fy) const</div><div class="ttdoc">Reads back the focal length parameters of the target camera.</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html_ae87b82d5be3a3f12914f489ff45452eb"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#ae87b82d5be3a3f12914f489ff45452eb">pcl::registration::CorrespondenceEstimationOrganizedProjection::setDepthThreshold</a></div><div class="ttdeci">void setDepthThreshold(const float depth_threshold)</div><div class="ttdoc">Sets the depth threshold; after projecting the source points in the image space of the target camera,...</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_organized_projection_html_aec1298aff4ecd654fad9838ed871f1b3"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_organized_projection.html#aec1298aff4ecd654fad9838ed871f1b3">pcl::registration::CorrespondenceEstimationOrganizedProjection::clone</a></div><div class="ttdeci">virtual boost::shared_ptr&lt; CorrespondenceEstimationBase&lt; PointSource, PointTarget, Scalar &gt; &gt; clone() const</div><div class="ttdoc">Clone and cast to CorrespondenceEstimationBase</div><div class="ttdef"><b>Definition:</b> correspondence_estimation_organized_projection.h:183</div></div>
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